Motion control in the support phase for a one-legged hopping robot

Eijiro Ohashi, Kouhei Ohnishi

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

In this paper, the method of determinating the leg length and the leg angle at touchdown is proposed. With this method, the robot can track the soft-landing trajectory, considering the torque limits of the joints. Suppressing impact force in the landing phase remains as a big issue to be resolved for hopping robots. This paper applies the soft-landing trajectory which was proposed before in order to minimize impact force of landing. Regarding hopping as an extended function of walking robots, they would have rotary joints instead of prismatic joints. Considering torque limits of joints, the relationship between the tip position from the COG (center of gravity) and the COG velocity at touchdown is determined so as to track the soft-landing trajectory. In addition, the vertical velocity of the COG is estimated from the duration of the aerial phase. Consequently, even if a floor level varies, the hopping robot can select a proper landing position of the tip without getting over the torque limit at landing. Numerical results verify the proposed method.

本文言語English
ページ259-262
ページ数4
出版ステータスPublished - 2004
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3月 252004 3月 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
国/地域Japan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「Motion control in the support phase for a one-legged hopping robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル